JP2003071758A - Robot device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot device having a cover capable of preventing the occurrence of recessed and projecting parts when molding in an appearance shape while keeping fixed strength. SOLUTION: This robot device having units as constituent parts is provided with a core part incorporating an electronic system and/or a drive system allotted to the units, the cover molded like a shell having no projection on an internal wall face by a resin material, and a frame provided by corresponding to the cover to fix and hold the core part. The units are integrated by fitting the cover and the frame mutually to constitute the robot device.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot apparatus, and is suitable for application to, for example, a pet robot.

[0002]

2. Description of the Related Art In recent years, a four-legged walking type pet robot has been developed and sold by the present applicant. Such a pet robot has a shape similar to dogs and cats raised in ordinary households, and is designed to be able to autonomously act according to the user's actions such as “striking” and “stroking” and the surrounding environment. It was done by.

In this pet robot, in order to give the whole body an appearance shape resembling a dog or cat, as a cover which is an exterior of a unit such as a head, a body and legs resembling a dog or a cat. For example, a molded resin material such as plastic is used.

For example, in a head unit 50 corresponding to the head of a pet robot, as shown in FIG.
(Arge Coupled Device) A cover (hereinafter, referred to as a resin material) having a storage portion (hereinafter, referred to as a bone portion) 51 in which a camera, a microphone, a speaker, and the like are stored, molded into a resin material in an appearance shape similar to a dog or a cat. Is referred to as a head cover) 52 and is fixedly held in the housing 52.

Here, the head cover 52 is a cover half body 52 having a two-divided structure that can be vertically divided into a front head and a back head.
Ribs RB having a predetermined shape corresponding to the outer shape of the bone portion 51 and a plurality of screwing bosses BS are formed on the inner wall surfaces of the cover halves 52A and 52B, respectively. .

Then, as shown in FIG. 11, the cover halves 52A and 52B for the forehead and the back of the head are fitted together from both sides with the bone portion 51 sandwiched therebetween to be integrated, and a plurality of screws are used. By fixing the cover halves 52A and 52B to each other, the head cover 52 in which the bone portion 51 is housed and held is obtained.

[0007]

However, in this conventional structure, the cover halves 52 for the frontal region and the occipital region are provided.
When the A and 52B are molded, the respective cover half bodies 52
Instead of projecting the rib RB or the boss BS from the inner wall surface of A, 52B, a recess (hereinafter, referred to as a sink) based on the resin flow path is often formed at a corresponding position of the outer wall surface. As a result, there was a risk of impairing the appearance. This tendency was especially remarkable on the inner wall surface of the cover half that was largely curved.

On the other hand, ribs RB and boss BS are formed on the inner wall surfaces of the front and back cover halves 52A and 52B.
Although it is possible to reduce the sink mark generated on the outer wall surface by adjusting the size of the head cover 52, in manufacturing, the amount of the resin material used for the entire head cover 52 is reduced, and the wall thickness of the head cover 52 is reduced as much as possible. There was a request to make it thinner.

However, when the thickness of the head cover 52 is reduced, the ribs RB and the boss BS formed on the inner wall surface from the outer surface of the head cover 52 can be seen through when the outside is viewed with the naked eye. There was a problem that it was not desirable as a pet robot.

The present invention has been made in consideration of the above points, and it is an object of the present invention to propose a robot apparatus having a cover capable of preventing unevenness in the external shape during molding while maintaining a constant strength. .

[0011]

In order to solve the above problems, according to the present invention, in a robot apparatus having a unit as a constituent part, a core section in which an electronic system and / or a drive system assigned to the unit are built-in, A cover formed by molding a resin material into a shell shape without a protrusion on the wall surface and a frame provided corresponding to the cover for fixing and holding the core part are provided, and the unit is integrated by fitting the cover and the frame together. It is configured by converting.

As described above, in the robot apparatus, when the cover and the frame are fitted and integrated with each other, unevenness such as sink marks is prevented from occurring on the outer wall surface of the cover,
The outer wall surface can be maintained in a smooth curved shape. [Detailed Description of the Invention]

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings.

(1) Structure of Pet Robot According to this Embodiment In FIG. 1, reference numeral 1 denotes the pet robot according to this embodiment as a whole, and leg units 3A to 3D are connected to the front, rear, left and right of the body unit 2, respectively. In addition, the head unit 5 is connected to the front end of the body unit 2 with the collar 4 interposed therebetween.

In this case, in the body unit 2, as shown in FIG. 2, a controller 10 for controlling the operation of the pet robot 1 as a whole, a battery 11 as a power source of the pet robot 1, a battery sensor 12 and Various internal sensors such as the temperature sensor 13 and the like, a speaker 14 that functions as a substantial “mouth” of the pet robot 1, a detachable external memory 15 in which various control parameters are stored, and the like are stored. In addition, near the rear end of the upper surface of the body unit 2, an LED (Light Emitting D
An external tail portion 17 made of a joystick in which the iode 16 is housed is provided so as to project.

Further, the head unit 5 has a CCD (Charge Cou) which corresponds to substantially "eyes" of the pet robot 1.
pled device) A camera 18 and a microphone 19 corresponding to a virtual “ear” are housed, and a corner portion 21 having a predetermined shape and containing an LED 20 is provided on the top of the head (FIG. 1).
Are provided so as to project.

Further, the knee joint portions of the leg units 3A to 3D, the leg units 3A to 3D and the body unit 2 are also provided.
Actuators 22 corresponding to the respective degrees of freedom for the hip joints that connect the head units 5 and the body unit 2 and the like.
_{1 to} 22 _n and potentiometers 23 ₁ to 23 _n are arranged.

The CCD camera 18 of the head unit 5
Captures the surrounding situation and sends the obtained image signal S1 to the controller 10. In addition, the microphone 19 collects voice commands such as “walk”, “sitting” or “follow the ball” and ambient sounds emitted by the user, and sends the voice signal S2 thus obtained to the controller 10.

Further, the battery sensor 1 of the body unit 2
2 detects the remaining amount of the battery 11, sends the detection result to the controller 10 as a battery remaining amount detection signal S3, and the temperature sensor 13 detects the internal temperature of the body unit 2 and outputs the detection result to the temperature. The detection signal S4 is sent to the controller 10.

Further, each potentiometer 23₁~ 23_n
Is the output shaft of the corresponding actuator 221 to 22n.
The rotation angle is detected, and the detection result is the angle detection signal S5.₁~
S5 _nTo the controller 10 as a body unit
The tail portion 17 of the gland 2 responds to this when the user operates it.
The same operation detection signal S6 is sent to the controller 10.

The controller 10 includes a CCD camera 18,
Microphone 19, battery sensor 12, temperature sensor 1
3. Potentiometers 23 ₁ to 23 _n and tail portion 17
Based on the image signal S1, the audio signal S2, the battery remaining amount detection signal S3, the temperature detection signal S4, the angle detection signals S5 _{1 to} S5 _{n, the} operation detection signal S6, etc. given from Determines whether there is a command from the user and whether there is an action from the user.

Then, the controller 10 determines the subsequent action based on the result of this determination and the control program stored in advance in the internal memory 10A and various control parameters stored in the external memory 15, and is required based on the determination result. By vibrating the different actuators 22 _{1 to} 22 _n , the pet robot 1 is caused to perform actions such as swinging the head unit 5 up and down, left and right, and driving the leg units 3A to 3D to walk.

Further, at this time, the controller 10 outputs a voice based on the voice signal S7 to the outside by giving a predetermined voice signal S7 to the speaker 14 as necessary, or in the corner portion 21 and the tail portion 17. The LEDs 20, 16 are turned on, turned off, or blinked.

In this way, the pet robot 10 behaves autonomously according to the external and internal conditions, the presence / absence of commands and actions from the user, various control parameters stored in the external memory 15, and the like. It is designed to get you.

(2) Processing of Controller 10 Here, the processing of the controller 10 relating to such action generation of the pet robot 1 will be described.

As shown in FIG. 3, when the processing contents of the controller 10 relating to the action generation of the pet robot 1 are functionally classified, the state recognition unit 30 that recognizes the external and internal states and the recognition result of the state recognition unit 30. An emotion / instinct model 31 that determines an emotion and an instinct state based on the action, and an action that determines the next action based on the recognition result of the state recognition unit 30 and the emotion / instinct state determined in the emotion / instinct model 31 Based on the determination unit 32, a posture transition control unit 33 that makes a series of motion plans of the pet robot 1 for performing the action or action decided by the action determination unit 32, and the action plan made by the posture transition control unit 33 LED16,
20 and actuators 22 _{1 to} 22 _{n and the} like, and a device control unit 34 that controls devices.

In this case, the state recognizing section 30 includes an image signal S1 and a voice signal S2 provided from the CCD camera 18, the microphone 19, the battery sensor 12, the temperature sensor 13, the potentiometers 23 ₁ to 23 _{n, the} tail section 17, and the like.
Battery level detection signal S3, the temperature detection signal S4, recognizes a particular state based on the various sensor signal S10 such as the angle detection signal S5 _{1-S5 n} and the operation detection signal S6, the recognition result as the state recognition information D1 Emotional / instinct model 31
Also, the action determination unit 32 is notified.

Specifically, the state recognizing section 30 constantly monitors the image signal S1 given from the CCD camera 18, and in the image based on the image signal S1, for example, "a red round object" or "an object positioned in the traveling direction". When it detects "," it recognizes that "there is a ball" and "there is an obstacle", and notifies the emotion / instinct model 31 and the action determination unit 32 of the recognition result.

The state recognition unit 30 also includes a microphone 19
The audio signal S2 given by the HMM (Hi
When various voices such as “walk”, “prone”, “follow the ball” are recognized by a voice recognition method such as the dden Markov Model) method, the voice is notified to the emotion / instinct model 31 and the action determination unit 32.

Further, the state recognizing section 30 recognizes the remaining amount of the battery and the internal temperature based on the battery remaining amount detecting signal S3 and the temperature detecting signal S4 provided from the battery sensor 12 and the temperature sensor 14, respectively, and the recognition result is emotional.・
The instinct model 31 and the action determination unit 32 are notified.

Further, the state recognizing section 30 has an angle detection signal S5 ₁ given from each of the potentiometers 23 ₁ to 23 _n.
To S5 _n are constantly monitored, and, for example, the angle detection signals S5 ₁ from the potentiometers 23 ₁ to 23 _n corresponding to the actuators 22 _{1 to} 22 _n in the pitch direction of the head unit 5, respectively.
When it is detected that the head unit 5 is pushed downward or upward based on S5 _n , it is recognized as "praised" or "scold" and the recognition result is the emotion / instinct model 3
1 and the action determination unit 32 are notified.

Further, the state recognition section 30 constantly monitors the operation detection signal S6 given from the tail section 17, and when it detects that the tail section 17 is operated based on the operation detection signal S6, it responds to the operation. The intention of the user is recognized, and the recognition result is notified to the emotion / instinct model 31 and the action determination unit 32.

The emotion / instinctive model unit 31 is "joyful",
With respect to a total of six emotions of “sadness”, “surprise”, “fear”, “disgust”, and “anger”, a parameter representing the intensity of the emotion is held for each emotion. The emotion / instinct model unit 31 then sets the parameter values of each of these emotions based on specific recognition results such as “praised” and “scold” given as the state recognition information D1 from the state recognition unit 30. Change sequentially.

Similarly, the emotion / instinct model unit 31 determines five independent desires of "love desire", "search desire", "exercise desire", "charge desire" and "sleep desire". , Each of these desires holds a parameter indicating the strength of the desire. And the emotion / instinct model part 31
The parameter value of each of these desires is set to the state recognition unit 3 respectively.
It is sequentially changed based on the recognition result from 0, the elapsed time, and the like.

On the other hand, the action determining section 32 includes the state recognizing section 30.
When the state recognition information D1 is given by the user, when a certain time has passed after the current action, or when the emotion or instinct model 31 has any emotion or instinct parameter value exceeding a threshold value, The next action is determined based on the control program stored in the internal memory 10A and the control parameters stored in the external memory 15.

Specifically, the action determining unit 32 sets the state to the node N as shown in FIG. 4 as a method of determining the next action.
Expressed as D _{A0 to} ND _An , one node ND _A0
From which node ND _{A0 to} ND _An is completed at its own node ND _{A0 to} NDAn or an arc AR _A0 connecting each node ND _{A0 to} ND _An
~ Transition Probability P ₀ Set for AR _An ~
An algorithm called a probabilistic automaton that determines probabilistically based on P _n is used.

In this case, the connection relation between the nodes ND _{A0 to} ND _An and the arcs A in this probability automaton.
R _A0 to Ar transition probability _P 1 to P _n and for _An, the external memory 1 as the arc _AR A0 _{to Ar An} action associated respectively control parameters (action model)
Stored in 5.

The action determining section 32 then recognizes the state, for example.
When the state recognition information D1 is given from the section 30,
Node (ND_A0) Has passed a certain time
When, any emotion in the emotion / instinct model part 31
Or when the instinct's parameter value exceeds the threshold,
The next transition destination node (N
D_A0~ ND_An) Each arc AR_A0~ AR_AnAgainst
Transition probability P₀~ P _nProbabilistically based on
Node (ND_A0~ ND_An) And the original
Mode (ND_A0) Is connected to the arc (AR_A0~ AR
_An) As the action to be expressed next
And notifies the posture transition control unit 33 as the action determination information D2
To do.

In the posture transition control unit 33, when the action decision information D2 is given from the action decision unit 32, a series of action plans of the pet robot 1 for taking an action based on the action decision information D2 are made, and the action is concerned. The operation command information D3 based on the plan is output to the device control unit 34.

In this case, the posture transition control unit 33 determines the postures of the pet robot 1 as shown in FIG.
_{B0 to} ND _B2, and transitionable nodes ND _{B0 to} ND
Conclusion In a directed arc _AR B0 _{to Ar B2} representing the operation between _B2, and the operation to complete on one node _ND B0 _{to ND B2} using a directed graph to represent as a self-operating arc _AR C0 _{~AR C3.}

Specifically, in the case of the pet robot 1, the postures such as "standing", "sitting", and "falling down" are associated with the nodes ND _{B0 to} ND _B2 , respectively.
Each directed arc AR _{B0 to} AR _B2 connecting between these nodes ND _{B0 to} ND _B2 is associated with an operation for transitioning the posture. Also, each self-moving arc A
R _{C 0 to A} RC ₃ are associated with various actions such as “walking”, “dancing”, “shaking the head”, and “handing” that can be expressed in the corresponding postures.

Then, the posture transition control unit 33 receives the action commands such as “stand”, “walk”, and “dance” from the action determining unit 32 as the action determining information D2, and then the directed arcs AR _{B0 to} AR _B2. while following the direction, the current node _ND B0 _{to ND B2} nodes specified attitude or operation associated with the _ND B0 _{to ND B2} or directed arc _AR B0 _{to Ar B2} or self operating arc _{AR C0} ~
A shortest route to AR _C3 is searched, and each directed arc AR _{B0 to} AR _B2 and the self-moving arc A on the searched route are searched.
The operation commands for sequentially performing the operations respectively associated with R _{C0 to} AR _C3 are sequentially output to the device control unit 34 as the operation command information D3.

For example, when the pet robot 1 is in the “sitting” posture, the posture control control unit 33 receives the action command “slap your limbs in the prone state” from the action determining unit 32. Is a motion called "falling down" associated with a directed arc AR _B1 connecting between the node ND _B1 corresponding to the "sit" posture and the node ND _B2 corresponding to the "down" posture (hereinafter, this will be referred to as "falling down". Motion command ”and a motion“ flapping hands and feet ”associated with the self-motion arc AR _C3 (hereinafter, referred to as“ motion ”).
This is referred to as a “limb and flap operation”) and is sequentially sent to the device control unit 34.

In the device control unit 34, each directed arc AR of the directed graph held by the posture transition control unit 33.
_{B0 to} AR _B2 and each self-moving arc AR _{C0 to} AR _C3
Each of the motions, such as which actuator 22 _{1 to} 22 _n (FIG. 2) is driven at which timing and in order to cause the pet robot 1 to express the motion in association with each motion associated with each motion. A file that defines the time-series control contents of the actuators 22 _{1 to} 22 _n (hereinafter, referred to as operation file)
In the external memory 15.

[0045] The device control unit 34, each time the given operation command information D3 from the posture transition control unit 33, are sequentially reproduced corresponding operation file based on the control parameters stored in the operation file drive signals S11 ₁ ~
S11 generates _n, by a corresponding actuator ₂₂ 1 through 22 _n for controlling the driving based on the driving signal _S11 1 ～S11 _n, expressing an operation corresponding to the pet robot 1.

Therefore, for example, when the pet robot 1 is in the "sitting" posture, the device control unit 34 is sequentially given the above-mentioned "prone motion" and "limb slap motion" operation commands from the posture transition control unit 33. In such a case, first, each of the corresponding actuators 22 _{1 to} 22 _n is sequentially controlled in time series on the basis of the motion file corresponding to the “lie down motion” to cause the pet robot 1 to perform the “lie down motion”. Following this, the pet robot 1 is caused to express the “limb slap movement” by sequentially controlling the corresponding actuators 22 _{1 to} 22 _n in time series based on the motion file corresponding to the “limb slap movement”.
As a result, the pet robot 1 as a whole exhibits a series of motions in which the posture is changed from “sitting” to “falling down” and then “fluttering hands and feet”.

Further, the device control unit 34 controls the WA of various sounds.
Multiple audio files that are VE files and LED1
A plurality of LEs in which drive data of 6 and 20 (FIG. 2) are stored
The pet drive 1 has a D drive file in the external memory 15, and when the motion file is played back, the voice file and / or the LED drive file associated with the motion file are played back at the same time, thereby causing the pet robot 1 to move. In addition, output audio from the speaker 14 (Fig. 2),
The LEDs 16 and 20 are driven to blink.

In this way, the controller 10 can make the pet robot 1 act autonomously according to the external and internal conditions, the command from the user and the presence or absence of the action.

(3) Structure of Head Unit of Pet Robot Next, the structure of the head unit 5 of the pet robot 1 will be described. In this pet robot 1, in the head unit 5, as shown in FIG. 6 (A), a bone portion (not shown) in which the CCD camera 18 and the like are incorporated (see FIG. 9 described later).
40) is fixedly held in a head cover 41 formed by molding a synthetic resin material such as plastic into an external shape resembling an animal, for example.

Here, as shown in FIG. 6 (B), the head cover 41 is a cover half having a two-part structure that can be vertically divided into a front head and a back head (hereinafter referred to as a front cover and a rear cover, respectively). 41A and 41B, the front cover 41A (FIG. 7) and the rear cover 41B (FIG. 8) have a substantially hemispherical shell shape with a predetermined wall thickness, and the inner wall surface is substantially along the curved shape of the outer wall surface. It is molded smoothly.

First, the front cover 41A is shown in FIG.
As shown in FIG.
Notch 41AF with a predetermined shape according to the neck and neck (not shown)
₁~ 41AF_FourIs formed and the outside in the central part
For the nose and mouth, which correspond to the apparent "nose" and "mouth,"
Holes 41A for distance sensor and CCD camera respectively
H ₁, 41AH_TwoIs opened.

On the other hand, the rear cover 41B is shown in FIG.
As described above, the ears 41, corners, and
Notch 41BF with a predetermined shape according to the neck (not shown)₁
~ 41BF_FourAccording to the binaural part
Notch 41BF₁, 41BF _TwoScrews on the underside of
Screw hole for fixing 41BN₁, 41BN_TwoIs formed
It

Further, as shown in FIGS. 7 and 8, the front cover 41A and the rear cover 41B are provided with removable frames 42A and 42B having predetermined shapes (hereinafter referred to as front frame and rear frame, respectively). It is designed to fit.

First, as shown in FIG. 8, the rear frame 42B has a disc portion 42BS having an outer peripheral shape corresponding to the peripheral edge portion 41BF of the rear cover 41B, and the disc portion 42B.
Storage chambers 42BA, 42BB, 42BC for storing and holding both ears and corners are formed at the peripheral edge of S, and half of the bone portion 40 is stored and held in the center of the disk portion 42BS. Storage chamber 42BD is formed, and a notch 42BF having a predetermined shape corresponding to the neck portion is formed at the lower end of the storage chamber 42BD.
Are formed.

On the other hand, as shown in FIG. 7, the front frame 42A has a disc portion 42AS having an outer peripheral shape corresponding to the peripheral edge portion 41AF of the front cover 41A, and a rear frame 42B is provided at the peripheral end of the disc portion. Fitting portion 42A corresponding to the outer shape of the formed plurality of storage chambers 42BA to 42BC
A to 42AC are respectively formed, and a storage chamber 42AD for storing and holding half of the bone portion 40 is formed in the center of the disc portion 42AS.
A predetermined notch 42AF corresponding to the neck portion is formed at the lower end of the.

7 and 8, the front cover 41A and the rear cover 41B are provided with a plurality of groove portions 41A on the inner side surfaces near the peripheral portions 41AF and 41BF, respectively.
G and 41BG are formed at predetermined intervals, and the front frame 42A and the rear frame 42B have a plurality of protrusions 42AT and 42A on the disk portions 42AS and 42BS, respectively.
BTs are formed at predetermined intervals corresponding to the respective groove portions.

Thus, when the front cover 41A and the rear cover 41B are fitted to the corresponding front frame 42A and rear frame 42B, the plurality of groove portions 4 are formed.
Protrusions 42AT and 4 corresponding to 1AG and 41BG, respectively
By fitting the 2BT, the front cover 41A
Between the front frame 42A and the rear cover 41B
The rear frame 42B and the rear frame 42B can be integrally fixed (hereinafter, referred to as a front half unit 43A and a rear half unit 43B, respectively).

Then, as shown in FIG. 9, the front half unit 43A and the rear half unit 43B are fitted together from both sides with the bone portion 40 sandwiched therebetween, and a plurality of screws (not shown) are provided. Using the first half unit 4
The head unit 5 in which the bone portion 40 is fixedly held by fixing the 3A and the latter half unit 43B to each other.
Is designed to get you.

In the latter half unit 43B (FIG. 9),
Microphone 19 and LE provided on both ears and corners
The wiring drawn out from D16 and the control circuit board connected through the wiring are housed in the gap between the rear cover 41B and the rear frame 42B.

In the front half unit 43A (FIG. 9),
A distance sensor (not shown) provided at the nose and mouth and wirings drawn from the CCD camera 18 and a control circuit board connected through the wirings are provided between the front cover 41A and the front frame 42A. It is designed to be housed in a gap.

(4) Operation and Effect of the Present Embodiment With the above configuration, in the head unit 5 of the pet robot 1, the head cover 41 made of a resin material such as plastic is used.
By forming the front cover 41A and the rear cover 41B, which form the half body, into a substantially hemispherical shell shape having no ribs or bosses on the curved inner wall surfaces, the outside of the front cover 41A and the rear cover 41B can be formed at the time of molding. It is possible to prevent unevenness such as sink marks from occurring on the wall surface, and as a result, it is possible to maintain the outer wall surface in a smoothly curved shape.

Then, the front and rear covers 41A and 41B are fitted and integrated with the corresponding front and rear frames 42A and 42B to construct a front half unit 43A and a rear half unit 43B. Body unit 43A
The second half unit 43B is fitted and integrated from both sides with the bone portion 40 having the CCD camera 18 or the like being sandwiched therebetween to obtain the head unit 5 in which the bone portion 40 is fixedly held. be able to.

In the front half unit 43A and the rear half unit 43B, the front frame 42A and the rear frame 42B are formed with disk portions 42AS and 42BS corresponding to the peripheral portions 41AF and 41BF of the front cover 41A and the rear cover 41B, respectively. When the front cover 41A and the rear cover 41B are fitted to the corresponding front frame 42A and the rear frame 42B, the front frame 42A and the rear frame 42 are fitted.
Front cover 41A on the disk parts 42AS and 42BS of B
Since the inner peripheral surfaces of the peripheral edges 41AF and 41BF of the rear cover 41B are fitted in contact with each other, the front cover 41A and the rear cover 41B as a whole can have high strength.

Further, in the front half body unit 43A and the rear half body unit 43B, the disk portions 42 of the front frame 42A and the rear frame 42B corresponding to the peripheral edge portions 41AF and 41BF of the front cover 41A and the rear cover 41B.
Since the ASs and the 42BSs are brought into contact with each other so as to be fitted to each other, even when an impact such as a blow is applied from the outer wall surfaces of the front cover 41A and the rear cover 41B, the front cover 41A and the front frame 42A are not connected to each other. Rear cover 41B and rear frame 42
By absorbing the sound in the space formed between B,
It is possible to prevent the microphones 19 provided on both ears 5A and 5B of the head unit 5 from picking up extra sounds.

Further, in the front half unit 43A and the rear half unit 43B, a distance sensor (not shown) and a CCD provided in various parts for functioning as a head respectively.
Wiring drawn out from the camera 18, the microphone 19, the LED 16 and the like, and a control circuit board connected through the wiring are housed in the gaps between the front cover 41A and the front frame 42A and between the rear cover 41B and the rear frame 42B. By doing so, when the user or the repairer disassembles the head unit 5, when the front half unit 43A and the latter half unit 43B are opened to expose the bone portion 40, the front half unit 43A and the latter half body are exposed. Since the wiring and the circuit board do not protrude from the unit 43B, it is possible to prevent the user or the repairer from accidentally damaging the wiring or the like.

According to the above configuration, in the head unit 5 of the pet robot 1, the front cover 41A and the rear cover 41B forming the half body of the head cover 41 made of a resin material such as plastic are respectively curved inner wall surfaces. It is formed into a substantially hemispherical shell without ribs or bosses on the CCD.
A front frame 42A and a rear frame 42B for fixing and holding the bone portion 40 in which the camera 18 and the like are built.
The front half unit 43A and the latter half unit 43B each having a two-body structure are constructed by fitting the two parts together, so that the bone portion 40 is sandwiched between the front half unit 43A and the latter half unit 43B. It is possible to prevent unevenness such as sink marks from occurring on the outer wall surface of the head cover 41 when they are fitted and integrated with each other, and it is possible to maintain the outer wall surface in a smooth curved shape, and thus, to maintain a certain level. A pet robot 1 having a head cover 5 capable of preventing the appearance of irregularities during molding while maintaining strength.
Can be realized.

(5) Other Embodiments In the above-described embodiments, the case where the present invention is applied to the four-legged walking type pet robot 1 has been described, but the present invention is not limited to this. The present invention can be widely applied to robot devices having various configurations other than the four legs.

Further, in the above-described embodiment, the present invention is applied to the head unit 5 in the pet robot 1 shown in FIG.
However, the present invention is not limited to this, and may be applied to various units such as the body unit 2 and the leg units 3A to 3D in addition to the head unit 5. .

Further, in the above-described embodiment, the bone portion (core portion) 40 in which the electronic system and / or the drive system assigned to the head unit 5 is built is used as the front frame and the rear frame (frame) 42A, 42B. The head cover (cover) 41 formed by molding a resin material into a shell shape having no protrusion on the inner wall surface and the front frame and the rear frames (frames) 42A and 42B are fitted and integrated with each other. Thus, the case where the head unit (unit) 5 is configured has been described, but the present invention is not limited to this, and a cover formed by molding a resin material into a shell shape having no protrusion on the inner wall surface is practically sufficient. If it is possible to prevent the appearance of irregularities during molding while maintaining strength, various other unit configurations can be widely applied.

Further, in the above-described embodiment, in the head unit 5, the disc portion (plate-shaped) having the end faces corresponding to the peripheral portions 41AF and 41BF of the front cover 41A and the rear cover 41B is provided on the front frame 42A and the rear frame 42B, respectively. Part) 42AS, 42BS is formed in advance, and when the front cover 41A and the rear cover 41B are fitted to the corresponding front frame 42A and rear frame frame 42B, the front frame 4
The front cover 41A is provided on the end faces of the disc portions (plate portions) 42AS and 42BS of the 2A and the rear frame frame 42B.
The case where the inner peripheral surfaces of the peripheral portions of the rear cover 41B and the rear cover 41B are in contact with each other has been described. However, the present invention is not limited to this, and the point is that the entire strength of the front cover 41A and the rear cover 41B is high. If it can be provided, various other configurations can be widely applied.

Further, in the above-described embodiment, in the head unit 5, when the front cover 41A and the rear cover 41B are fitted to the corresponding front frame 42A and the rear frame frame 42B, the peripheral portions of the covers correspond. The case where the contact is made only by the plate-shaped portion of the frame has been described, but the present invention is not limited to this, and the point is that even when a shock such as a blow is applied from the outer wall surface of the cover, the contact is formed between the cover and the frame. If the sound is absorbed in the created space, various other configurations can be widely applied.

Further, in the above-described embodiment, in the head unit 5, the wiring drawn out from the bone portion (core portion) 40 and / or the circuit board connected via the wiring is connected to the front cover 41A and the front frame 42A.
Although the case where it is accommodated in the space formed by and / or the space formed between the rear cover 41B and the rear frame 42B has been described, the present invention is not limited to this, and wiring etc. can be effectively provided between the cover and the frame. If it can be held, it can be widely applied to units having various other configurations.

[0073]

As described above, according to the present invention, in a robot apparatus having a unit as a constituent part, a core portion in which an electronic system and / or a drive system assigned to the unit are built, and a protrusion is provided on the inner wall surface. A cover formed by molding a resin material into a shell shape and a frame provided corresponding to the cover for fixing and holding the core part are provided, and the unit is formed by fitting the cover and the frame together and integrating them. By doing so, when the cover and the frame are fitted together and integrated, it is possible to prevent unevenness such as sink marks from occurring on the outer wall surface of the cover, and to maintain the outer wall surface in a smooth curved shape. Therefore, it is possible to realize a robot apparatus having a cover capable of preventing unevenness in the external shape during molding while maintaining a constant strength.

[0074]

[Brief description of drawings]

FIG. 1 is a schematic perspective view showing an external configuration of a pet robot according to this embodiment.

FIG. 2 is a block diagram showing an internal configuration of a pet robot.

FIG. 3 is a block diagram for explaining processing of a controller.

FIG. 4 is a conceptual diagram for explaining a probability automaton.

FIG. 5 is a conceptual diagram for explaining a directed graph.

6A and 6B are a front view and a perspective view showing an external configuration of a head unit according to the present embodiment.

FIG. 7 is a perspective view showing configurations of a front cover and a front frame.

FIG. 8 is a perspective view showing configurations of a rear cover and a rear frame.

FIG. 9 is a perspective view for explaining the relationship between the front half unit and the rear half unit and the bone portion.

FIG. 10 is a perspective view showing an internal configuration of a conventional head unit.

FIG. 11 is a perspective view for explaining a state where the conventional bone portion is fixedly held in a cover.

[Explanation of symbols]

1 ... Pet robot, 2 ... Body unit, 10 ...
... Controller, 10A ... Internal memory, 14 ... Speaker, 15 ... External memory, 19 ... Microphone, 3
0 ... State recognition unit, 31 ... Emotion / instinct model unit, 32
...... Behavior, 41 ...... Head cover, 41A ...... Front cover, 41B …… Rear cover, 42A …… Front frame, 42B …… Rear frame, 43A …… Front half unit, 43B ...... Latter half body unit, S2 ...... Voice signal, D1 ...... State recognition information, D
2 ... Action decision information.

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 2C150 CA02 DA05 DA24 DA26 DA27                       DA28 DF03 DF04 DF06 DF33                       ED42 ED47 ED52 EF07 EF16                       EF17 EF23 EF28 EF29 EF33                       EF36                 3C007 AS36 CS08 HS09 HS27 JS06                       WA04 WA14 WC25

Claims (4)

[Claims] 1. A robot apparatus having a unit as a constituent part, wherein a resin material is molded in a shell shape having no core on which an electronic system and / or a drive system assigned to the unit are built in and an inner wall surface has no protrusion. A cover and a frame provided corresponding to the cover for fixing and holding the core portion, and the unit is configured by fitting the cover and the frame together and integrating them. Characteristic robot device. 2. In the unit, a plate-shaped portion having an end face corresponding to a peripheral edge portion of the cover is formed on the frame, and when the cover is fitted to the corresponding frame, the plate of the frame is formed. The robot apparatus according to claim 1, wherein the cover is fitted in such a manner that an inner peripheral surface of a peripheral portion of the cover is in contact with an end surface of the shaped portion. 3. The unit according to claim 1, wherein when the cover is fitted to the corresponding frame, the peripheral portion of the cover is contacted only by the plate-shaped portion of the corresponding frame. Item 2
The robot device according to 1. 4. In the unit, the wiring drawn out from the core portion and / or the circuit board connected via the wiring is housed in a space formed between the cover and the frame. The robot apparatus according to claim 1, wherein the robot apparatus is a robot apparatus.